YÜRÜME, OTURMA-KALKMA VE MERDİVEN ÇIKMA SIRASINDA YARDIMCI OLAN DİZ DIŞ İSKELETİNİN TASARIMI

Bu çalışmada, yürümede, ayağa kalkmada ve merdiven çıkmada ağırlık kabulüne yardımcı olan bir diz dış iskeletini sunuyoruz. Dış iskelet cihazının çalışma prensibi, doğal insan yürüyüşü, ayağa kalkma ve merdiven çıkma hareketlerinin biyo-mekanik verilerinden esinlenmiştir. İlk olarak, diz ekleminin ağırlık kabul davranışını belirlemek için doğal yürüyüş verileri analiz edilmiştir. Ardından, elastik bir elemanla ayağa kalkma hareketi için bir model oluşturulmuştur. Bundan sonra, merdiven çıkma verileri benzer şekilde analiz edilmiştir. Ardından, bu hareketler için uygun elastik elemanları, bunların elastik katsayıları ve gerekirse motor gereksinimleri tanımlanmıştır. Son olarak, önerilen diz dış iskeletinin CAD modeli sunulmuştur.

Anahtar Kelimeler:

Dış İskelet Tasarımı, Yardımcı Cihazlar, Yürüme, Oturma-Kalkma, Merdiven Çıkma

DESIGN OF A KNEE EXOSKELETON ASSISTING DURING WALKING, SIT-TO-STAND, AND STAIR ASCENDING

In this study, we present a knee exoskeleton that assists weight acceptance in walking, sit-to-stand and stair ascending. Working principle of the exoskeleton device is inspired from the bio-mechanical data of natural human gait, sit to stance and stair ascent motions. First, we analyze the natural gait data to identify the weight acceptance behavior of the knee joint. Then we build a model for sit to stand motion with an elastic element. After that, stair ascent data is analyzed in a similar manner. Then, we define the appropriate elastic elements, their coefficients and motor requirements if necessary, for these specific tasks. Finally, we present the CAD model of the proposed knee exoskeleton.

Keywords:

Exoskeleton Design, Assistive Devices, Walking, Sit-to-Stand, Stair Ascend,

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